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Update pid.c

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added verification that the quad is armed to detect crash (thanks @martinbudden ;) )
This commit is contained in:
Vidalcris 2017-07-23 14:14:47 +02:00 • committed by GitHub
parent c4f3a6101d
commit 3298c3d641
1 changed files with 1 additions and 1 deletions
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2
src/main/flight/pid.c
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@ -450,7 +450,7 @@ void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *an
previousRateError[axis] = rD;
// if crash recovery is on and accelerometer enabled then check for a crash
if (pidProfile->crash_recovery && sensors(SENSOR_ACC) && inCrashRecoveryMode == false) {
if (pidProfile->crash_recovery && inCrashRecoveryMode == false && sensors(SENSOR_ACC) && ARMING_FLAG(ARMED)) {
if (motorMixRange >= 1.0f
&& ABS(delta) > crashDtermThreshold
&& ABS(errorRate) > crashGyroThreshold